CN112520089B

CN112520089B - Automatic fast-assembling system of lead-acid battery

Info

Publication number: CN112520089B
Application number: CN202011507559.5A
Authority: CN
Inventors: 金杰峰; 谢江生; 郭湖兵
Original assignee: Hangzhou Smart Technology Co ltd
Current assignee: Hangzhou Smart Technology Co ltd
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2022-07-29
Anticipated expiration: 2040-12-18
Also published as: CN112520089A

Abstract

The invention relates to an automatic quick-assembly system for lead-acid batteries, which comprises an unstacking module, a transferring module, a boxing module, a control module and a crane. The unstacking module unstacks the batteries and then places the batteries on the transferring module, the transferring module conveys the batteries to the boxing module, and the boxing module loads the batteries into the container. The boxing module extends into the container through a movable door on the container to load the battery; the positioning device aligns the movable door with the container loading module by pushing the container; the crane transfers and piles the container full of the battery, carry on the loading of the next container; the control module respectively controls the operation of the unstacking module, the transferring module, the boxing module and the crane. According to the invention, the functions of automatic packing of the lead-acid battery, lifting of the container, logistics and the like are realized through the mutual cooperation of the unstacking module, the transferring module, the packing module and the automatic logistics of the crane container. The aims of saving labor and improving the working environment are achieved, and the labor cost is saved.

Description

Automatic quick-mounting system for lead-acid battery

Technical Field

The invention belongs to the technical field of lead-acid battery transportation, and particularly relates to an automatic quick-mounting system for a lead-acid battery.

Background

After the lead-acid battery is prepared, boxing logistics transportation is needed, and the lead-acid battery is generally boxed by pure manual handling in the prior art. However, the mass of the lead-acid battery is large, about 50kg, and the height to be lifted is high during the transportation of the lead-acid battery to the container, resulting in great manual operation intensity.

In addition, the speed of simple manual casing is slow, and is inefficient to lead-acid batteries's vanning process needs to be operated in the open air, if meet inclement weather, and is great to operating personnel's injury.

The prior art device is difficult to meet the requirement of automatic loading and transporting of the lead-acid battery in terms of precision and volume.

Therefore, an apparatus for automatically and rapidly packing lead-acid batteries is needed to reduce the labor intensity of manual operation.

Disclosure of Invention

Technical problem to be solved

The invention provides an automatic quick-mounting system for a lead-acid battery, which aims to solve the problems of high labor intensity, difficult operation environment, slow battery packing speed and low efficiency caused by manual operation in the prior art.

(II) technical scheme

In order to achieve the purpose, the invention adopts the main technical scheme that:

An automatic quick-assembly system for lead-acid batteries comprises an unstacking module, a transferring module, a boxing module, a control module and a crane;

the lead-acid battery unstacking module unstacks the lead-acid battery, the lead-acid battery is placed on the transferring module, the transferring module conveys the lead-acid battery to the packing module, and the packing module packs the lead-acid battery into containers one by one;

one side of the container facing the container loading module is provided with a movable door;

the boxing module extends into the container through the movable door to load the lead-acid battery;

the container is placed above the positioning device, and the positioning device pushes the container to align the movable door with the container loading module;

the container filled with the lead-acid battery is transferred and stacked by the crane, and the next container is loaded;

the control module respectively controls the operation of the unstacking module, the transferring module, the boxing module and the crane.

Preferably, the unstacking module comprises an unstacking robot and a tray conveying line;

the tray conveying lines comprise a first tray conveying line and a second tray conveying line, and the moving directions of the first tray conveying line and the second tray conveying line are opposite;

a disc stacking machine and a transplanting machine are arranged on the first tray conveying line;

the lead-acid battery that the robot that breaks a jam will pass through the pile dish machine overturns 90 to the level is placed on transporting the module.

The transplanter diverts the empty tray so that the empty tray reaches the second tray conveyor line.

Preferably, the transfer module comprises a telescopic conveying line, and the telescopic conveying line comprises a fixed part and a moving part;

the de-stacking robot places the lead-acid batteries on the moving part, the moving part moves along the fixed part, and the lead-acid batteries are conveyed to the boxing module.

Preferably, the moving part is driven by a gear rack structure, and the servo motor provides power for the moving part.

Preferably, two lead-acid battery shelves are arranged inside the container;

the two lead-acid battery goods shelves are distributed between the two lead-acid battery goods shelves in the container in a bilateral symmetry mode to form a hollow area, the boxing modules move in the hollow area, and the lead-acid batteries are loaded into the lead-acid battery goods shelves one by one.

Preferably, the positioning means are located at the bottom corners of the container and at the midline of the bottom edge;

the positioning device comprises a motor, a ball screw, a piston rod, a positioning block and a steel rib plate;

the steel bar plate is buried in the ground to fix the whole positioning device;

the motor transmits power to the ball screw to drive a piston rod connected with the ball screw, and the piston rod feeds axially to push the container;

2-3 positioning devices are correspondingly arranged on each side surface of the container.

Preferably, the control module comprises a positioning detection sensor, a master control PLC and a plurality of electric control cabinets;

the plurality of electric control cabinets comprise an unstacking robot electric control cabinet, a disc stacking machine electric control cabinet, a telescopic conveying line electric control cabinet and a boxing module electric control cabinet;

the main control PLC controls the tray conveying line, the stack-breaking robot electric control cabinet, the tray stacking machine electric control cabinet, the telescopic conveying line control cabinet, the boxing module electric control cabinet and the positioning detection sensor.

Preferably, the crane is a rail type container gantry crane and comprises a gantry frame, a cart running mechanism, a lifting trolley assembly, a cab, a power cable reel device, a lifting frame, a lifting appliance and an electric control system.

Preferably, emergency stop buttons are arranged on a plurality of operation panels of the electric control cabinet;

and a guardrail enclosure is arranged outside the unstacking robot.

(III) advantageous effects

The invention has the beneficial effects that: under the control of the control module, the automatic packing of the lead-acid battery, the hoisting of the container, the logistics and other functions are realized through the mutual matching of the unstacking module, the transferring module, the packing module and the automatic logistics of the crane container. Compared with the prior art, the automatic quick-mounting system for the lead-acid battery achieves the purposes of saving labor and improving the working environment, saves labor cost, greatly improves the battery packing speed of the lead-acid battery, and has great popularization value in the lead-acid battery industry.

In addition, the invention creates a brand new layout design of the lead-acid battery boxing process, optimizes the logistics structure, achieves continuous transportation of the lead-acid battery through transportation of the transportation module between battery unstacking and boxing, and realizes automation of the lead-acid battery boxing process.

The invention also realizes the accurate matching of the container and the packing module through the positioning device, thereby realizing the automatic packing function of the battery in the container with compact structure under the condition of higher precision.

Drawings

FIG. 1 is an overall layout diagram of an automatic quick-assembly system for lead-acid batteries according to the invention;

FIG. 2 is a schematic structural view of the unstacking module of the present invention;

FIG. 3 is a schematic structural view of the telescopic conveyor line according to the present invention;

FIG. 4 is a schematic view of the construction of the container of the present invention;

FIG. 5 is a schematic view of the positioning device of the container of the present invention;

FIG. 6 is a schematic view showing the construction of the container crane according to the present invention;

FIG. 7 is an architecture diagram of a control module according to the present invention;

FIG. 8 is a schematic structural view of a battery-mounted vehicle head according to the present invention;

FIG. 9 is a schematic structural view of a base plate assembly according to the present invention;

FIG. 10 is a schematic structural diagram of a power and free line assembly according to the present invention;

FIG. 11 is a schematic view of the lifting assembly of the present invention;

FIG. 12 is a schematic view of the structure of the tension adjusting module of the present invention

FIG. 13 is a schematic view of the structure of the push-stop assembly of the present invention;

FIG. 14 is a schematic structural view of a push plate module according to the present invention;

fig. 15 is a schematic structural view of the push-in frame assembly according to the present invention.

[ description of reference ]

1: a destacking module; 2: a transfer module; 3: a boxing module; 4: a crane; 5: a container; 6: a positioning device;

11: a destacking robot; 12: a tray conveyor line; 121: a disc stacking machine;

21: a fixing member; 22: a moving part; 23: a guide steel groove;

31: a chassis assembly; 32: a wire accumulating and releasing assembly; 33: a lifting assembly; 34: blocking the push-in assembly; 35: pushing in the frame assembly;

311: a chassis frame; 312: a support frame; 313: an electric cabinet; 314: a guide wheel seat; 315: a caster wheel; 316: connecting the shaft seat; 317: a human-shaped support frame;

331: a first servo motor; 332: a first ball screw; 333: a first linear guide rail; 334: a guide rail frame; 335: a tension adjustment module;

3351: a synchronous pulley; 3352: adjusting the bolt; 3353: adjusting the bottom plate;

341: pushing into a cylinder; 342: blocking the jacking machine; 343: pushing the plate; 344: a front end blocking mechanism;

3431: a push rod; 3432: hinging seat; 3433: a slider connecting plate; 3434: a cylinder; 3435: pushing the block;

351: pushing the frame in; 352: a second servo motor; 353: a second ball screw; 354: a second linear guide; 355: a positioning sensor; 356: pushing the plate;

51: a movable door; 52: lead-acid battery storage racks;

61: a motor; 62: a ball screw; 63: a piston rod; 64: positioning blocks; 65: and (5) a steel rib plate.

Detailed Description

For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.

As shown in fig. 1, an embodiment of the present invention provides an automatic fast-assembling system for lead-acid batteries, which includes an unstacking module 1, a transferring module 2, a boxing module 3, a control module, and a crane 4.

The lead-acid battery unstacking module 1 is used for unstacking the lead-acid battery, the lead-acid battery is placed on the transferring module 2, the transferring module 2 is used for conveying the lead-acid battery to the packing module 3, and the packing module 3 is used for packing the lead-acid battery into the containers 5 one by one.

One side of the container 5 facing the container module 3 is provided with a movable door 51;

the boxing module extends into the container 5 through the movable door 51 to load the lead-acid battery;

the container 5 is placed over the positioning device 6 and the positioning device 6 pushes the container 5 so that the movable door 51 is aligned with the boxing module 3.

The crane 4 shifts and stacks the container filled with the lead-acid battery, and loads the next container.

The control module respectively controls the operation of the unstacking module 1, the transferring module 2, the boxing module 3 and the crane 4.

According to the embodiment of the invention, under the control of the control module, the functions of automatic packing of the lead-acid battery, lifting of the container, logistics and the like are realized through the mutual cooperation of the unstacking module, the transferring module, the packing module and the automatic logistics of the crane container. Compared with the prior art, the automatic quick-mounting system for the lead-acid battery achieves the purposes of saving labor and improving the working environment, saves labor cost, greatly improves the battery packing speed of the lead-acid battery, and has great popularization value in the lead-acid battery industry.

The embodiment of the invention achieves continuous transfer of the lead-acid battery through the transportation of the transfer module between the battery unstacking and the boxing, and realizes the automation of the lead-acid battery boxing process.

The embodiment of the invention also realizes the accurate matching of the container and the packing module through the positioning device, thereby realizing the automatic packing function of the battery in the container with compact structure under the condition of higher precision.

Preferably, as shown in fig. 2, the destacking module 1 comprises a destacking robot 11 and a pallet conveyor line 12. The main function of the unstacking robot 11 is to automatically unstack the lead-acid batteries, adjust the battery postures and place the unstacked lead-acid batteries on the transfer module 2.

The tray conveying line 12 includes a first tray conveying line and a second tray conveying line, which move in opposite directions.

The first tray transfer line is provided with a stacking machine 121 and a transplanting machine. Fold dish machine 121 is used for collecting and pinches a calculation battery tray, because the transmission direction of first tray transmission line and second tray transmission line is opposite, sets up the transplanter at the end of first tray transmission line, and battery tray through folding dish machine 121 reachs the transplanter, and through the effect of transplanter, the direction of battery tray takes place 90 changes, and then removes to second tray transmission line, realizes the conveying of battery tray through the second tray transmission line.

The unstacking robot 11 comprises a robot body and a battery gripper,

when the battery tray passes through the stacker 121 to reach the vicinity of the unstacking robot 11, the stopping mechanism performs battery tray stopping. The unstacking robot drives the battery gripper to be close to the lead-acid battery, the sensor is mounted on the battery gripper sucker, when the lead-acid battery is detected, the lead-acid battery is sucked by the sucker, the robot body directly moves the lead-acid battery to the transfer module 2, and under the action of the robot body, the lead-acid battery is turned over for 90 degrees and is adjusted to be horizontally placed on the transfer module 2. In the embodiment of the invention, the design of the unstacking robot meets the requirement of production takt time, and the battery gripper structure can complete unstacking of lead-acid batteries with the weight of 50kg without damaging the surfaces of the lead-acid batteries, so that the surfaces of the batteries are prevented from being dented and scratched due to gripping. In the embodiment of the invention, the unstacking robot is an Anchuan multifunctional industrial robot, the degree of freedom is 6, the maximum carrying mass is 225kg, the vertical extension length is 3393mm, the horizontal extension length is 2702mm, and the positioning precision is +/-0.1 mm.

Preferably, as shown in fig. 3, the transfer module 2 comprises a telescopic conveyor line comprising a fixed part 21, a moving part 22 and a guide steel groove 23. The fixed member 21 is a ground rail fixed to the ground, and the moving member 22 is moved in a telescopic manner on the fixed member 21. The boxing module 3 is provided with a detection sensor, when the boxing module 3 moves forwards, the detection sensor is embedded into the guide steel groove 23, and the system can judge whether the walking direction of the boxing module is accurate or not.

The unstacking robot 11 places the lead-acid batteries on the moving part 22, and the moving part 22 moves along the fixed part 21 to transport the lead-acid batteries to the boxing module 3.

The moving part 22 is driven by a rack and pinion structure, and the servo motor provides power for the moving part 22.

Preferably, as shown in fig. 4, two lead acid battery racks 52 are provided inside the container 5.

The two lead-acid battery shelves 52 are symmetrically distributed in the container 5.

A hollow area is arranged between the two lead-acid battery shelves 52, the boxing module 3 moves in the hollow area, and the lead-acid batteries are arranged in the lead-acid battery shelves 52 one by one.

Due to the large volume of the crane 4, the positioning precision cannot be controlled accurately in the process of lifting the empty container 5, and the error of tens of millimeters to tens of millimeters usually exists. Due to the fine grid size on the lead-acid battery shelf 52 and the limited volume of the hollow area inside the container, the error may cause the distance between the boxing module 3 and the shelf to deviate, and the battery loading process of the lead-acid battery shelf 52 may not be performed. Therefore, the embodiment of the invention also provides a positioning device for assisting the secondary positioning of the container 5, so that the matching of the container and the loading module is more accurate, and the loading of the lead-acid battery is convenient.

Preferably, the positioning means 6 are located at the bottom corners of the container 5 and at the midline of the bottom edge, as shown in fig. 5.

The positioning device 6 comprises a motor 61, a ball screw 62, a piston rod 63, a positioning block 64 and a steel rib plate 65.

The steel rib plate 65 is buried in the ground to fix the whole positioning device 6.

The motor 61 transmits power to the ball screw 62, drives the piston rod 63 connected to the ball screw 62, and the piston rod 63 axially feeds to push the container 5. The positioning block 64 is used as a fixing and positioning reference, and when the container 5 is pushed to the positioning block 64 direction by the opposite positioning device and approaches the positioning block, the container is accurately positioned.

2-3 positioning devices 6 are correspondingly arranged on each side surface of the container 5.

It should be noted that the position of the positioning device 6 relative to the ground is fixed, under the action of the crane, the container 5 is firstly placed above the positioning device, the positioning detection sensor is installed on the container 5, and then the positioning device performs secondary positioning on the container according to the control of the control module.

Preferably, as shown in fig. 6, the crane 4 is a rail-mounted container gantry crane, and includes a gantry, a cart running mechanism, a lifting trolley assembly, a cab, a power cable reel device, a hanger and a spreader, and an electric control system.

The rail type container gantry crane selected by the embodiment of the invention can load and unload international standard containers with the lengths of 20 inches and 40 inches.

The crane is of a rail type and a double-cantilever type, the portal frame is provided with U-shaped supporting legs and a trolley, and the container lifting appliance is provided with an electric telescopic lifting appliance.

The main beam of the crane adopts an offset rail double-beam box type structure, is provided with an anti-shaking device, and is provided with an electric wheel clamping system, a relatively centralized lubricating system and an electric control system.

The supporting legs of the crane are rigid on one side and flexible on one side. A support leg is provided with a Z-shaped inclined ladder and a trolley normal parking space platform, a worker can conveniently arrive at a cab from a main beam, a straight ladder channel is arranged between the cab and the trolley, and the driver can also arrive at the trolley through the main beam. The other leg is provided with a high-voltage cable reel. The power supply mode of the crane is as follows: a ground cable channel is arranged on the outer side of the track, the cable reaches a high-voltage switch cabinet of a high-voltage room through a cable reel, and then power supplies with different voltage grades are conveyed to each power distribution cabinet in the electric room through a high-voltage transformer and then conveyed to each mechanism.

The crane trolley assembly comprises a running mechanism and a swing mechanism, the swing mechanism is positioned above the running mechanism, a hoisting mechanism is arranged on the swing mechanism, a cab is suspended below the swing mechanism, and the actions of the four mechanisms of crane running, trolley running, swinging and hoisting can be controlled from the cab. The ground operation station can operate various actions of the cart operation, the lifting appliance and the lifting mechanism. When the wind speed is more than 20m/s (clockwise wind and counter-clockwise wind), the cart can still be operated, the trolley can be operated to the anchoring position and fixed on the main beam, the cart is moved to the anchoring position, the anchoring inserting plate is placed in the anchoring groove, and the wind-proof mooring rope is tied.

The crane of the embodiment is provided with the anti-skid braking device, so that the crane does not slide under the action of strong wind of 36.9m/s in the track direction. The crane is also provided with a wind-proof anchoring device and a wind-proof mooring device, so that the crane still cannot slide or overturn under the action of strong wind with the wind speed of 55m/s at most.

In addition, LED illuminating lamps are arranged inside the main beam, the crane trolley, all ladders, the platform, the footpath, the electric room and the high-voltage room, so that the LED illuminating lamps are convenient for maintenance and safe passing of personnel at night.

Various operation safety accidents caused by illegal and overrun operation of the crane cause huge life and property loss, so that the using process of the crane must be effectively supervised to prevent and reduce safety production accidents of the crane.

The crane information and safety management system monitors the operation of lifting, cart and trolley mechanisms in real time, monitors safety protection devices of all mechanisms in real time, finds potential safety hazards in time through data analysis, prevents accidents, and provides related data and necessary records for the reliable operation of all mechanisms of a crane.

According to the embodiment of the invention, a CMS system is selected to safely manage the crane entry. The CMS system is a crane monitoring and diagnosing system, is a current crane comprehensive information management platform integrating real-time monitoring, fault alarming, data logging, equipment maintenance and operation statistics, and can record the operation parameters and operation records of a crane in real time. When the fault condition is met and the early warning value is set, the CMS system timely reminds and records various event information, and provides real-time and detailed historical data and analysis reports for operating personnel and maintenance personnel of the crane.

Through the CMS crane monitoring and diagnosing system, operation managers can inquire and process faults occurring in the operation of the crane through the system, carry out system management on equipment and components and guide regular maintenance and debugging of the system. The system has the following functions:

1. monitoring the state of the crane in real time: the method comprises the steps of monitoring the running conditions of accident-prone equipment and key equipment in real time, analyzing and sorting collected data, comparing actual data on site with relevant equipment running indexes, generating alarm information when deviation limit is exceeded, and storing alarm records. And related data are shared, and necessary data support is provided for timely discovering and eliminating the hidden trouble of equipment failure.

2. Accident analysis function on historical data: the system provides a history storage function for data, supports functions of alarming in various forms, accident recall, trend analysis and the like, and is convenient for accident analysis of field data.

3. And (3) communication with the industrial wireless Ethernet of the ground control center: the management computer completes real-time data communication of multiple processes such as process data, real-time alarm, historical inquiry, equipment diagnosis and the like.

4. Displaying a human-computer interaction interface: and the field production process and process optimization data are dynamically displayed in the forms of reports, curves, process flow pictures and the like, and remote release is supported.

5. Ground management personnel can directly send production instructions to an upper computer of the crane through a network to arrange production.

6. The system complies with the corresponding national standards and the relevant industry standards.

Preferably, as shown in fig. 7, the system is divided into a battery tray conveying mechanism, a battery gripper mechanism, an unstacking robot, a tray stacking mechanism, a telescopic conveying line and a boxing module, and correspondingly, the control module comprises a positioning detection sensor, a master control PLC and a plurality of electric control cabinets.

The electric control cabinet comprises an electric control cabinet of the unstacking robot, an electric control cabinet of the disc stacking machine, an electric control cabinet of the telescopic conveying line and an electric control cabinet of the boxing module.

Starting the container, enabling the battery gripper to reach a standby position, conveying the unstacked empty tray to a tray stacking machine by using the battery gripper, gripping the battery, placing the battery on a telescopic conveyor, conveying the battery to a boxing module, and transferring the lead-acid battery to a lead-acid battery shelf of the container by the boxing module according to an instruction. Repeating the above actions until the goods shelves on the container are completely placed.

Preferably, the system of the embodiment of the invention adopts a double-safety loop design and is controlled by a safety relay, namely, the emergency stop button and the safety door switch both adopt double normally closed contacts which are connected in series and then connected into the safety relay. The safety relay judges the states of the emergency stop and the safety door according to the accessed signals and gives out signals.

And a guardrail enclosure is arranged outside the working space of the unstacking robot 11 to ensure the operation safety. The guard bar encloses and keeps off the access door to install the safety door switch. When the access door is opened, the actions of the respective devices are immediately stopped, and the current position and posture are maintained. After the access door is closed, the system can be restarted to perform related operations only after a reset button is pressed.

The system is characterized in that an emergency stop button is arranged on an operation panel of the electric control cabinet, and an emergency stop button is also arranged on a unstacking robot control cabinet. When an emergency occurs, the emergency stop button can be pressed at any time, the action of each device can be stopped immediately, and the current position and the current posture are kept. After the emergency stop button is released, the system can be restarted to carry out related operations only after the reset button is pressed.

Preferably, the boxing module 3 is a battery loading head as shown in fig. 8, and comprises a power and free line assembly 32, a chassis assembly 31, a blocking push-in assembly 34, a lifting assembly 33 and a push-in frame assembly 35.

The power and free line assembly 32 and the lifting assembly 33 are mounted on the chassis assembly 31.

The push-in frame assembly 35 is mounted on the lifting assembly 33.

The telescopic conveying line 2 is connected with the chassis assembly 31;

the blocking pushing assembly 34 is arranged on the power and free wire assembly 32, the lead-acid battery is pushed into the pushing frame assembly 35, and the pushing frame assembly 35 loads the lead-acid battery into the container 5.

According to the embodiment of the invention, the lead-acid battery is automatically transported and boxed through the cooperation of the telescopic conveyor line and the battery loading headstock, the lead-acid battery is transported through the telescopic conveyor line 2, and the lead-acid battery is accurately placed into a container through the battery loading headstock 3, so that the functions of positioning and pushing the lead-acid battery are realized. The pushing frame mechanism 35 is designed on the premise of limited space, so that the lead-acid battery is automatically transported and loaded. Meanwhile, the lifting assembly 33 of the battery car head 3 has a lifting function and can meet the loading requirements of container goods shelves with different heights.

Preferably, as shown in fig. 9, the chassis assembly includes a chassis frame 311, a support frame 312, an electric cabinet 313, a guide wheel seat 314, a caster 315, a connection shaft seat 316, and a human-shaped support frame 317.

The chassis frame 311 is coupled to the fixing member 21 by the coupling shaft seat 316,

the lifting assembly 33 is connected to the support frame 312, and the support frame 312 ensures that the lifting mechanism 33 operates stably and reliably.

The electric cabinet 313 is installed on the support frame 312, the electric cabinet 313 moves along with the battery loading head, and the human-shaped support frame 317 provides a support platform for operators, so that the electric cabinet 313 is safe and convenient to operate.

The truckles 315 provide the running and supporting functions for the whole battery loading head, and the guide wheel plate is arranged on the guide wheel seat 314, so that the battery loading head is ensured to run according to the preset direction.

Preferably, as shown in fig. 10, a cylinder assembly and a position sensor are mounted on the power and free line assembly 32.

Preferably, as shown in fig. 11, the lifting assembly 33 includes a first servo motor 331, a first ball screw 332, a first linear guide 333, and a guide frame 334.

The first ball screws 332 comprise two sets of first ball screws which are symmetrically and vertically distributed.

The lifting component 33 adopts the first servo motor 331 to drive the first ball screw 332, realizes the random switching of the pushing frame component 35 among all heights, and has the characteristics of high repeated positioning precision, stable operation, strong reliability, compact structure and the like.

The guide structure adopts a left and a right first linear guide rail 333 which is reliably stressed and ensures the stability of operation. Adopt servo motor to provide power, can realize the self-locking function, ensure that lifting unit does not take place the accident of dropping in the operation process, dispose position sensor on the lifting unit 33 simultaneously, realize direction of height's location.

The tension adjustment module 335 is mounted on top of the lift assembly 33, and preferably, as shown in fig. 12, the tension adjustment module 335 includes a timing pulley 3351, an adjustment bolt 3352, and an adjustment base plate 3353. The synchronous belt wheel 3351 is in an expected tensioning state by manually adjusting the adjusting bolt 3352, so that the lifting mechanism 33 is ensured to run efficiently and stably.

Preferably, as shown in fig. 13, the blocking push assembly 34 includes a push cylinder 341, a blocking jack mechanism 342, a push plate module 343, and a front end blocking mechanism 344.

After the lead-acid battery enters the wire accumulating and releasing assembly 32, the blocking block of the front-section blocking mechanism 344 is lifted to position the battery, and meanwhile, the jacking mechanism 342 is blocked from rising to block and stop incoming materials of the lead-acid battery.

After the lead-acid battery is discharged in place, the front-end blocking mechanism 344 descends, and the push-in cylinder 341 drives the push-in plate module 343 to drive the lead-acid battery to enter the push-in frame assembly 35 along the horizontal direction.

Preferably, as shown in fig. 14, the push-in plate module is composed of a push rod 3431, a hinge base 3432, a slider connecting plate 3433, an air cylinder 3434, and a push-in block 3435, the air cylinder 3434 being connected to the slider connecting plate 3433. When the lead-acid battery is in place, the air cylinder 3434 jacks up, the pushing block 3435 is driven to rise under the hinging action of the hinged support 3432, and the pushing block 3435 pushes the lead-acid battery along a specified direction. After the lead-acid battery enters the pushing frame assembly 35, the air cylinder 3434 retracts to drive the pushing block 3435 to descend, so that collision with the incoming battery is avoided.

Preferably, as shown in fig. 15, the push-in frame assembly 35 includes a push-in frame 351, a second servo motor 352, a second ball screw 353, a second linear guide rail 354, a positioning sensor 355, and a push-in plate 356. The push-in frame 351 is left-right open and its opening faces the lead-acid battery rack inside the container 5.

The second servo motor 352, the second ball screw 353, and the second linear guide 354 are attached to the outside of the push-in frame 351, the push-in plate 356 is attached to the inside of the push-in frame 351, and the push-in plate 356 is connected to the second ball screw 353. For loading of lead-acid batteries in the container 5, the pushing frame assembly 35 shares a set of pushing mechanism in the form of a ball screw and a linear guide rail, and has the characteristics of stable operation, compact structure and the like.

The second servo motor 352 transmits power to the second ball screw 353, the second ball screw 353 drives the pushing plate 356 to push the lead-acid battery into the container 5, and the positioning sensor 355 arranged on the pushing frame assembly 35 can position the lead-acid battery in a predetermined direction.

Through the matching of the chassis assembly 31, the power and free line assembly 32, the lifting assembly 33, the blocking pushing assembly 34 and the pushing frame assembly 35, the battery loading positioning precision of the battery loading head is +/-0.5 mm.

The embodiment of the invention also provides an automatic quick-mounting method of the lead-acid battery, which comprises the following steps:

s1: the crane 4 places the empty container on the positioning device 6, and the positioning device 6 adjusts the position of the empty container to align the movable door 52 with the push-in frame assembly 35;

S2: the lead-acid battery is unstacked by the unstacking robot 11;

s3: the unstacking robot 11 places the unstacked lead-acid battery on the telescopic conveying line 2;

s4: the lead-acid battery is transferred to a power and free wire assembly 32 of a battery loading head by the telescopic conveying line 2;

s5: the lifting mechanism 33 adjusts the height of the push-in frame assembly 35 so that the height of the push-in frame assembly 35 is consistent with the height of the blocking push-in frame assembly 34; blocking the push-in frame assembly 34 from pushing the lead-acid battery into the push-in frame assembly 35;

s6: the vertical height of the push-in frame assembly is adjusted by the lifting assembly 33, so that the height of the push-in frame assembly 35 is consistent with that of the container, and the lead-acid battery is placed into the container by the push-in frame assembly 35.

S7: and (5) hoisting the container filled with the lead-acid batteries by the crane away and stacking, and repeating the steps from S1 to S6 until the lead-acid batteries are completely packed.

The above embodiments are merely illustrative, and not restrictive, of the scope of the invention, and those skilled in the art will be able to make various changes and modifications within the scope of the appended claims without departing from the spirit of the invention.

Claims

1. An automatic quick-assembly system for lead-acid batteries is characterized by comprising an unstacking module (1), a transferring module (2), a boxing module (3), a control module and a crane (4);

The lead-acid battery unstacking module (1) unstacks the lead-acid batteries, the lead-acid batteries are placed on the transferring module (2), the transferring module (2) conveys the lead-acid batteries to the boxing module (3), and the boxing module (3) packs the lead-acid batteries into containers (5) one by one;

one side of the container (5) facing the boxing module is provided with a movable door (51);

the boxing module extends into the container (5) through the movable door (51) to load the lead-acid battery;

the container (5) is placed above a positioning device (6), and the positioning device (6) pushes the container (5) to align the movable door (51) with the boxing module (3);

the crane (4) transfers and piles the container filled with the lead-acid battery, and loads the next container;

the control module respectively controls the operation of the unstacking module (1), the transferring module (2), the boxing module (3) and the crane (4);

the unstacking module (1) comprises an unstacking robot (11) and a tray conveying line (12);

the tray conveying line (12) comprises a first tray conveying line and a second tray conveying line, and the moving directions of the first tray conveying line and the second tray conveying line are opposite;

A disc stacking machine (121) and a transplanting machine are arranged on the first tray conveying line;

the de-stacking robot (11) turns the lead-acid battery passing through the tray stacking machine (121) by 90 degrees and horizontally places the lead-acid battery on the transfer module (2);

the transplanter steers the empty tray so that the empty tray reaches a second tray conveying line;

the transfer module (2) comprises a telescopic conveying line, wherein the telescopic conveying line comprises a fixed part (21), a moving part (22) and a guide steel groove (23);

the de-stacking robot (11) places the lead-acid batteries on the moving part (22), the moving part (22) moves along the fixed part (21), and the lead-acid batteries are transported to the boxing module (3);

the moving part (22) is driven by a gear rack structure, and a servo motor provides power for the moving part (22);

the unstacking robot (11) comprises a robot body and a battery gripper; when the battery tray passes through the tray stacking machine (121) and reaches the vicinity of the unstacking robot (11), the stopping mechanism executes battery tray stopping; the unstacking robot drives the battery gripper to be close to the lead-acid battery, a sensor is arranged on a sucker of the battery gripper, when the lead-acid battery is detected, the lead-acid battery is sucked by the sucker, the lead-acid battery is directly moved to the transfer module (2) by the robot body, the lead-acid battery is turned over for 90 degrees under the action of the robot body, and the lead-acid battery is adjusted to be horizontally placed on the transfer module (2);

The fixed part (21) is a ground rail fixed on the ground, and the moving part (22) moves on the fixed part (21) in a telescopic way; the boxing module (3) is provided with a detection sensor, when the boxing module (3) moves forwards, the detection sensor is embedded into the guide steel groove (23), and the system judges whether the walking direction of the boxing module is accurate or not;

the positioning device (6) comprises a motor (61), a ball screw (62), a piston rod (63), a positioning block (64) and a steel rib plate (65);

the motor (61) transmits power to the ball screw (62), a piston rod (63) connected with the ball screw (62) is driven, and the piston rod (63) axially feeds to push the container (5); the positioning block (64) is used as a fixing and positioning reference, and when the opposite positioning device pushes the container (5) to the direction of the positioning block (64) and approaches the positioning block, the container is positioned;

the boxing module (3) comprises a stacking line assembly (32), a chassis assembly (31), a blocking pushing assembly (34), a lifting assembly (33) and a pushing frame assembly (35);

the power and free line assembly (32) and the lifting assembly (33) are arranged on the chassis assembly (31);

The pushing frame assembly (35) is arranged on the lifting assembly (33);

the telescopic conveying line is connected with the chassis assembly (31);

the blocking push-in assembly (34) is arranged on the power and free wire assembly (32) and pushes the lead-acid battery into the push-in frame assembly (35);

the push-in frame assembly (35) loads lead-acid batteries into the container (5).

2. Automatic quick-assembly system of lead-acid batteries according to claim 1, characterized in that inside said container (5) there are provided two lead-acid battery shelves (52);

the two lead-acid battery shelves (52) are symmetrically distributed in the container (5);

a hollow area is arranged between the two lead-acid battery shelves (52), the boxing module (3) moves in the hollow area, and the lead-acid batteries are loaded into the lead-acid battery shelves (52) one by one.

3. Automatic quick-assembly system of lead-acid batteries according to claim 1, characterized in that said positioning means (6) are located at the bottom corners of said container (5) and at the median line of the bottom edges;

The steel rib plates (65) are buried in the ground to fix the whole positioning device (6);

the motor (61) transmits power to the ball screw (62), a piston rod (63) connected with the ball screw (62) is driven, and the piston rod (63) axially feeds to push the container (5);

2-3 positioning devices (6) are correspondingly arranged on each side surface of the container (5).

4. The automatic quick-assembly system of lead-acid batteries according to claim 1, characterized in that said control module comprises a positioning detection sensor, a master control PLC and a plurality of electric control cabinets;

the main control PLC controls the tray conveying line, the stack-unstacking robot electric control cabinet, the tray stacking machine electric control cabinet, the telescopic conveying line control cabinet, the boxing module electric control cabinet and the positioning detection sensor.

5. The automatic quick-assembly system of lead-acid batteries according to claim 1, characterized in that said crane is a rail-mounted gantry container crane comprising a gantry, a cart running mechanism, a crane carriage assembly, a cab, a power cable reel device, a hanger and a spreader, and an electric control system.

6. The automatic quick-assembly system of lead-acid batteries according to claim 4, characterized in that said plurality of electric control cabinet operation panels are provided with emergency stop buttons;

and a guardrail barrier is arranged outside the unstacking robot (11).